#include "vehicle_dyn_factory.hpp"
#include "test_vehicle_dyn_path.h"
using namespace auto_ros::control;
int main()
{
	std::string dyn_yaml_path_name = test_vehicle_dyn_path + "vehicle_speed_3dis.yaml";
	VehicleDynFactory test_dyn_factory;
	std::shared_ptr<VehicleDynBase> test_dyn =
		test_dyn_factory.CreateSharedObject("VehicleLateralSpeed3dis", dyn_yaml_path_name);
	std::cout << "speed =1.0,state_matrix is:" << test_dyn->state_matrix() << std::endl;
	test_dyn->speed_update_matrix(10);
	std::cout << "speed =10.0,state_matrix is:" << test_dyn->state_matrix() << std::endl;
	std::cout << test_dyn->dyn_yaml_ << std::endl;

	//std::cout << test_kf->state_esti() << std::endl;
}